期刊
ISA TRANSACTIONS
卷 105, 期 -, 页码 98-110出版社
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2020.06.006
关键词
Prescribed performance bound; Backstepping control; Adaptive control; LS parameter identification; Quadrotor UAV
资金
- Canadian NSERC Discovery Grant [116806]
- Canadian CFI LOF Grant [31211]
In this paper, a backstepping based indirect adaptive control design and an alternative direct adaptive control scheme, both with guaranteed transient and steady-state tracking performances, are proposed for trajectory tracking of a quadrotor unmanned aerial vehicle (UAV). Backstepping techniques, combined with a prescribed performance function based error transformation, are employed in both designs to achieve the bounded transient and steady-state tracking errors of the strict-feedback position system which comprises both lateral position and altitude dynamics. The effects of parametric inertia and drag uncertainties on attitude regulation are compensated using a least squares based parameter identification algorithm in the indirect adaptive control design, and using a constructive Lyapunov analysis approach in the direct adaptive control scheme. The stability of the closed-loop system for both designs is proven via Lyapunov analysis. Simulation and experimental test results are provided to verify the effectiveness of the proposed control designs. (C) 2020 Published by Elsevier Ltd on behalf of ISA.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据